version: 66.09
glider: 166
mission: 6
dive: 346
start: 10 9 111 5 1 6
data:
$ID,166
$MISSION,6
$DIVE,346
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,280
$T_MISSION,310
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51906
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-24834.861
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,20
$C_ROLL_DIVE,1610
$C_ROLL_CLIMB,1780
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2884
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,109
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.509327
$PRESSURE_SLOPE,0.0001160501
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004315557
$SEABIRD_T_H,0.00063223497
$SEABIRD_T_I,2.3993638e-05
$SEABIRD_T_J,2.5696888e-06
$SEABIRD_C_G,-9.9842854
$SEABIRD_C_H,1.1210135
$SEABIRD_C_I,-0.0013500623
$SEABIRD_C_J,0.00018873326
$GPS1,091011,045306,2330.434,12239.585,37,1.5,37,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-66.7
$GPS2,091011,050043,2330.521,12239.689,36,1.3,47,-3.2
$SPEED_LIMITS,0.204,0.313
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,98.2,132583,-18.1,-11.786
$D_GRID,3599
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.64,-194.6,0.0,0.0,0,101,0.00,0.00,-81.40,0.000,2,0.000,0.000,124,1594,3019,0,0,0,0,0,0
$GC,104,-0.64,-194.6,5.6,-7.8,11,135,9.40,1.08,-13.10,0.000,4,0.217,0.062,2523,2312,3680,0,0,0,0,0,0
$GC,257,-0.55,-194.6,55.7,-29.8,37,266,0.12,1.05,0.00,0.000,6,0.138,0.038,2562,1605,3681,0,0,0,0,0,0
$GC,586,-0.52,-194.6,108.7,-15.6,98,594,0.00,1.02,0.00,0.000,4,0.000,0.040,2561,907,3682,0,0,0,0,0,0
$GC,610,-0.51,-194.6,112.7,-15.3,101,619,0.00,1.02,0.00,0.000,6,0.000,0.035,2558,1604,3682,0,0,0,0,0,0
$GC,939,-0.51,-194.6,164.6,-15.5,162,947,0.00,1.02,0.00,0.000,4,0.000,0.042,2553,2306,3683,0,0,0,0,0,0
$GC,1103,-0.52,-194.6,186.1,-11.8,191,1111,0.00,1.02,0.00,0.000,6,0.000,0.037,2553,1614,3683,0,0,0,0,0,0
$GC,1433,-0.53,-194.6,227.7,-11.7,252,1441,0.00,1.02,0.00,0.000,4,0.000,0.042,2548,2297,3683,0,0,0,0,0,0
$GC,1493,-0.57,-194.6,234.1,-9.8,262,1501,0.00,1.02,0.00,0.000,6,0.000,0.037,2548,1606,3683,0,0,0,0,0,0
$GC,1823,-0.58,-194.6,271.7,-10.9,306,1827,0.00,1.02,0.00,0.000,4,0.000,0.042,2548,910,3683,0,0,0,0,0,0
$GC,1847,-0.60,-194.6,274.2,-10.4,308,1851,0.00,1.02,0.00,0.000,6,0.000,0.037,2543,1607,3683,0,0,0,0,0,0
$GC,2180,-0.62,-194.6,311.9,-11.5,339,2184,0.00,1.02,0.00,0.000,4,0.000,0.044,2538,2304,3682,0,0,0,0,0,0
$GC,2263,-0.65,-194.6,321.1,-10.1,346,2270,0.00,1.02,0.00,0.000,6,0.000,0.040,2538,1621,3682,0,0,0,0,0,0
$GC,2589,-0.67,-194.6,356.1,-11.1,377,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,1621,3682,0,0,0,0,0,0
$GC,2909,-0.70,-194.6,388.7,-10.3,407,2913,0.00,1.02,0.00,0.000,4,0.000,0.047,2534,2296,3681,0,0,0,0,0,0
$GC,2973,-0.73,-194.6,395.2,-10.0,412,2980,0.00,1.02,0.00,0.000,6,0.000,0.043,2534,1616,3681,0,0,0,0,0,0
$GC,3299,-0.76,-194.6,431.5,-11.3,443,3303,0.10,1.08,0.00,0.000,4,0.097,0.050,2468,2302,3679,0,0,0,0,0,0
$GC,3339,-0.73,-194.6,437.2,-14.9,446,3347,0.10,1.05,0.00,0.000,6,0.135,0.044,2509,1611,3678,0,0,0,0,0,0
$GC,3664,-0.73,-194.6,480.4,-12.1,477,3668,0.00,1.05,0.00,0.000,4,0.000,0.049,2512,916,3677,0,0,0,0,0,0
$GC,3691,-0.73,-194.6,483.3,-12.0,479,3694,0.00,1.05,0.00,0.000,6,0.000,0.044,2514,1605,3677,0,0,0,0,0,0
$GC,4022,-0.73,-194.6,524.8,-12.3,510,4026,0.00,1.05,0.00,0.000,4,0.000,0.050,2511,2307,3675,0,0,0,0,0,0
$GC,4205,-0.75,-194.6,546.6,-12.0,526,4209,0.00,1.05,0.00,0.000,6,0.000,0.046,2511,1618,3674,0,0,0,0,0,0
$GC,4538,-0.75,-194.6,584.4,-10.6,557,4542,0.00,1.08,0.00,0.000,4,0.000,0.051,2511,910,3671,0,0,0,0,0,0
$GC,4573,-0.75,-194.6,588.3,-10.3,560,4577,0.00,1.08,0.00,0.000,6,0.000,0.046,2506,1608,3671,0,0,0,0,0,0
$GC,4898,-0.75,-194.6,623.2,-11.1,581,4902,0.00,1.08,0.00,0.000,4,0.000,0.050,2506,910,3669,0,0,0,0,0,0
$GC,4978,-0.75,-194.6,632.4,-11.7,584,4982,0.00,1.08,0.00,0.000,6,0.000,0.046,2501,1608,3668,0,0,0,0,0,0
$GC,5299,-0.75,-194.6,670.2,-12.1,600,5303,0.00,1.10,0.00,0.000,4,0.000,0.050,2501,904,3666,0,0,0,0,0,0
$GC,5371,-0.75,-194.6,679.4,-12.7,603,5375,0.00,1.10,0.00,0.000,6,0.000,0.046,2496,1615,3666,0,0,0,0,0,0
$GC,5701,-0.75,-194.6,722.3,-13.5,619,5702,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1616,3662,0,0,0,0,0,0
$GC,6008,-0.75,-194.6,763.2,-13.1,634,6012,0.00,1.05,0.00,0.000,4,0.000,0.058,2490,2300,3660,0,0,0,0,0,0
$GC,6041,-0.75,-194.6,767.6,-12.5,635,6045,0.00,1.05,0.00,0.000,6,0.000,0.048,2491,1615,3659,0,0,0,0,0,0
$GC,6365,-0.75,-194.6,808.7,-12.8,651,6369,0.00,1.08,0.00,0.000,4,0.000,0.055,2491,916,3657,0,0,0,0,0,0
$GC,6501,-0.75,-194.6,826.2,-12.6,657,6504,0.00,1.08,0.00,0.000,6,0.000,0.049,2486,1607,3656,0,0,0,0,0,0
$GC,6836,-0.75,-194.6,869.2,-13.4,673,6840,0.00,1.08,0.00,0.000,4,0.000,0.058,2481,2305,3654,0,0,0,0,0,0
$GC,6868,-0.75,-194.6,874.0,-13.0,674,6872,0.00,1.08,0.00,0.000,6,0.000,0.048,2481,1607,3653,0,0,0,0,0,0
$GC,7191,-0.75,-194.6,918.0,-13.9,690,7194,0.00,1.08,0.00,0.000,4,0.000,0.056,2480,909,3652,0,0,0,0,0,0
$GC,7220,-0.75,-194.6,922.2,-14.3,691,7224,0.00,1.10,0.00,0.000,6,0.000,0.050,2475,1610,3652,0,0,0,0,0,0
$GC,7547,-0.74,-194.6,963.7,-11.9,707,7551,0.12,1.12,0.00,0.000,4,0.174,0.055,2509,907,3650,0,0,0,0,0,0
$GC,7632,-0.76,-194.6,972.4,-9.9,710,7639,0.00,1.10,0.00,0.000,6,0.000,0.050,2506,1607,3649,0,0,0,0,0,0
$STATE,7822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7822,begin apogee
$GC,7828,-0.11,0.0,990.4,9.4,720,8000,0.60,0.00,166.68,1.437,6,0.119,0.000,2702,1782,2883,0,0,0,0,0,0
$STATE,8000,end apogee,CONTROL_FINISHED_OK
$STATE,8000,begin climb
$GC,8003,0.64,194.6,995.7,0.0,728,8187,0.70,0.00,180.48,1.379,6,0.068,0.000,2955,1782,2090,0,0,0,0,0,0
$GC,8496,0.61,194.6,937.7,14.0,752,8500,0.00,1.08,0.00,0.000,4,0.000,0.062,2955,2480,2081,0,0,0,0,0,0
$GC,8588,0.58,194.6,924.2,13.9,756,8592,0.00,1.08,0.00,0.000,6,0.000,0.050,2960,1787,2081,0,0,0,0,0,0
$GC,8920,0.55,194.6,876.1,14.2,772,8925,0.12,1.10,0.00,0.000,4,0.177,0.060,2924,2486,2079,0,0,0,0,0,0
$GC,8992,0.57,205.8,867.4,11.3,775,9010,0.00,1.10,10.02,1.169,6,0.000,0.049,2926,1779,2044,0,0,0,0,0,0
$GC,9320,0.58,214.9,829.9,11.4,791,9334,0.00,1.12,9.70,1.157,4,0.000,0.058,2925,2484,2006,0,0,0,0,0,0
$GC,9382,0.59,219.9,822.6,11.6,793,9393,0.00,1.10,6.53,1.026,6,0.000,0.048,2928,1782,1986,0,0,0,0,0,0
$GC,9723,0.63,249.4,784.5,10.6,810,9757,0.00,1.15,28.25,1.273,4,0.000,0.054,2933,1068,1867,0,0,0,0,0,0
$GC,9815,0.69,282.7,775.2,10.4,814,9851,0.00,1.12,32.72,1.260,6,0.000,0.047,2933,1781,1730,0,0,0,0,0,0
$GC,10165,0.74,306.5,738.0,10.8,830,10192,0.15,1.12,22.90,1.219,4,0.079,0.057,3008,2483,1634,0,0,0,0,0,0
$GC,10229,0.70,306.5,727.7,18.1,833,10234,0.12,1.10,0.00,0.000,6,0.151,0.046,2975,1776,1633,0,0,0,0,0,0
$GC,10566,0.69,306.5,678.0,15.2,849,10570,0.00,1.10,0.00,0.000,4,0.000,0.055,2972,2488,1630,0,0,0,0,0,0
$GC,10590,0.69,306.5,673.7,16.1,850,10593,0.00,1.10,0.00,0.000,6,0.000,0.046,2975,1773,1630,0,0,0,0,0,0
$GC,10923,0.69,306.5,622.8,15.4,866,10924,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,1773,1629,0,0,0,0,0,0
$GC,11238,0.69,306.5,576.6,14.5,888,11242,0.00,1.10,0.00,0.000,4,0.000,0.054,2972,2488,1628,0,0,0,0,0,0
$GC,11287,0.69,306.5,568.7,14.5,892,11294,0.00,1.08,0.00,0.000,6,0.000,0.044,2975,1783,1628,0,0,0,0,0,0
$GC,11613,0.69,306.5,521.6,13.3,923,11616,0.00,1.08,0.00,0.000,4,0.000,0.053,2973,2483,1628,0,0,0,0,0,0
$GC,11648,0.69,306.5,516.9,13.9,926,11651,0.00,1.08,0.00,0.000,6,0.000,0.044,2976,1779,1628,0,0,0,0,0,0
$GC,11981,0.69,306.5,472.2,13.2,957,11984,0.00,1.08,0.00,0.000,4,0.000,0.052,2973,2481,1627,0,0,0,0,0,0
$GC,12064,0.69,306.5,461.4,12.3,964,12071,0.00,1.08,0.00,0.000,6,0.000,0.042,2976,1774,1627,0,0,0,0,0,0
$GC,12392,0.69,306.5,421.6,12.8,995,12395,0.00,1.08,0.00,0.000,4,0.000,0.051,2974,2480,1627,0,0,0,0,0,0
$GC,12427,0.69,306.5,416.9,13.0,998,12430,0.00,1.05,0.00,0.000,6,0.000,0.042,2977,1785,1627,0,0,0,0,0,0
$GC,12757,0.69,306.5,372.1,12.8,1029,12761,0.00,1.08,0.00,0.000,4,0.000,0.050,2974,2490,1627,0,0,0,0,0,0
$GC,12798,0.70,306.5,367.2,12.4,1032,12804,0.00,1.08,0.00,0.000,6,0.000,0.042,2977,1782,1627,0,0,0,0,0,0
$GC,13123,0.71,306.5,323.9,13.7,1063,13127,0.00,1.05,0.00,0.000,4,0.000,0.047,2982,1078,1627,0,0,0,0,0,0
$GC,13152,0.72,306.5,320.0,13.6,1065,13160,0.00,1.08,0.00,0.000,6,0.000,0.041,2979,1792,1627,0,0,0,0,0,0
$GC,13478,0.75,313.3,278.2,11.5,1096,13492,0.00,1.10,6.90,0.725,4,0.000,0.044,2983,1069,1605,0,0,0,0,0,0
$GC,13533,0.80,337.4,272.3,10.8,1100,13565,0.00,1.08,23.25,0.863,6,0.000,0.040,2979,1781,1506,0,0,0,0,0,0
$GC,13882,0.88,377.5,235.6,10.2,1146,13927,0.15,1.10,36.53,0.838,4,0.079,0.043,3065,1078,1344,0,0,0,0,0,0
$GC,13942,0.84,377.5,225.9,17.8,1154,13950,0.15,1.08,0.00,0.000,6,0.136,0.038,3017,1788,1342,0,0,0,0,0,0
$GC,14272,0.85,377.5,180.4,12.4,1215,14280,0.00,1.00,0.00,0.000,4,0.000,0.047,3016,2469,1341,0,0,0,0,0,0
$GC,14311,0.87,377.5,175.8,11.9,1221,14321,0.00,1.05,0.00,0.000,6,0.000,0.039,3019,1773,1341,0,0,0,0,0,0
$GC,14642,0.88,377.5,135.3,13.3,1282,14649,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1773,1341,0,0,0,0,0,0
$GC,14965,0.90,377.5,96.4,12.3,1343,14972,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,1772,1341,0,0,0,0,0,0
$GC,15291,0.95,393.3,60.8,11.1,1404,15311,0.00,1.10,15.27,0.640,4,0.000,0.044,3024,1073,1279,0,0,0,0,0,0
$GC,15550,1.18,517.7,39.1,6.7,1451,15667,0.22,1.05,102.82,0.662,6,0.034,0.034,3158,1787,771,0,0,0,0,0,0
$STATE,15746,end climb,SURFACE_DEPTH_REACHED
$STATE,15747,begin surface coast
$FINISH,1.3,1.008788
$STATE,15764,end surface coast,CONTROL_FINISHED_OK
$STATE,15764,begin surface
$SM_CCo,15844,0.00,0.000,0,0,764,519.79
$SM_GC,2.09,7.82,0.00,0.00,0.037,0.000,0.000,140,1587,764,-8.05,-0.65,519.79,0,0,0,0,0,0
$IRIDIUM_FIX,2319.18,12238.18,091011,000003
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.36
$INTERNAL_PRESSURE,9.37994
$TCM_TEMP,24.60
$XPDR_PINGS,116
$24V_AH,22.9,83.418
$10V_AH,9.8,58.649
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,19.900,73.275,642.050,0.000,0.000,28.894,18.405,210.701,29.000,0.000,48.703,3685.812,7780.877,688.008,3635.726,490.542,0.000,2100.585,0.000,3354.740,0.000,0.541,0.000
$DEVICE_MAMPS,217.260,71.910,1436.670,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA3830,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1014.182,1520.341,1760.405,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324680
$DATA_FILE_SIZE,83658,1484
$CAP_FILE_SIZE,172684,0
$CFSIZE,260165632,116371456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128, 21.6,1
$GPS,091011,092647,2331.187,12242.959,42,1.9,58,-3.2